| 摘要 |
PURPOSE:To suppress the vibrations in a high load mode without deteriorating the follow-up performance of a numerical controller, by setting both position and speed loop gains within a numerical control program. CONSTITUTION:A gain controller 10 controls the gains of both amplifiers 2 and 4 based on the gain set value GC designated by a numerical control program. The subtraction is carried out between the position detecting signal XC and the signal received from a position detector 9 through a subtractor 1. Then the differential XE is multiplied by omega0 through the amplifier 2 as the speed command signal VC. Furthermore, the subtraction is carried out between the signal VC and the signal received from a speed detector 8 through a subtractor 3. Then this differential VE is multiplied by omegaC through the amplifier 4. This multiplied signal C is supplied to a compensation control part 5 to drive a motor 7 via a current control part 6. Then the output signals of both detectors 8 and 9 are varied for control so that both differentials VE and XE are set at zero.
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